A master-slave electromechanical servo cooperative motion control system

A technology of servo control and cooperative motion, applied in control systems, vector control systems, motor generator control, etc., can solve the problems of large specific power and load requirements, low dynamic performance indicators, etc., and achieve high power-to-mass ratio and low product cost Moderate, compact space layout effect

CN106411206BActive Publication Date: 2018-08-31BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2018-08-31

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Abstract

The invention relates to a master-slave type electromechanical servo cooperative motion control system, and relates to the field of aerospace thrust vector control electromechanical servo. The system aggregates signals, such as a bus instruction of a control system, linear displacement feedback of a master actuator and linear displacement feedback of a slave actuator; according to the swing angle of a spray tube, the corresponding telescopic lengths of the master and slave actuators and the accelerated factor and the acceleration factor of master and slave motion tracks are calculated in real time; a real-time motion track plan of the master and slave actuators is realized; an instruction signal of the master actuator is output in real time; a master-slave servo control driver completes inversion control of a direct-current power supply on a guided missile through a motor space vector control algorithm; a servo motor drives an electromechanical transmission mechanism to act a load, so that the purpose of controlling a thrust vector is achieved; the characteristic that synchronous control is strictly realized by master-slave cooperation is realized; furthermore, a basic technology is relatively matured and easy to realize; high integration and cooperative motion control of the system are realized; and thus, the technical problem that the spray tube is structurally damaged due to super-swing of the spray tube through a two-channel independent control method can be solved.
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Description

technical field

[0001] The invention relates to an application field of aerospace thrust vector control electromechanical servo, in particular to a cooperative motion control system of a master-slave electromechanical servo system. Background technique

[0002] At present, the aerospace application of traditional electromechanical servo is usually concentrated in the fields of instrumentation equipment and small air rudder control. The technical problem of causing nozzle overswing and damage to the nozzle structure is still a difficult problem that needs to be overcome. , the high-power electromechanical servo system above the kilowatt level has the advantages of high specific power, light weight, small size, easy disassembly and maintenance, etc. that cannot be compared with the high-power hydraulic system, so the electromechanical servo thrust vector control of the high-power level above the kilowatt level The system requirements are becoming more and more urgent, especial...

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Embodiment Construction

[0031] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0032] The main task of the main servo control driver is to receive all kinds of instructions issued by the control system, generate an interrupt after receiving the bus message of the control system and enter the interrupt service program, and perform various operations required by the bus protocol; and communicate through the dual redundant CAN bus Query whether a new CAN message is received in the timer interrupt service program, and receive the running status of the slave servo control driver and the slave actuator in real time. According to the required nozzle swing angle, calculate the expansion and contraction lengths corresponding to the master and slave actuators in real time, and adjust the acceleration factor and jerk factor of the master and slave motion trajectories in real time to realize the master and slave actuators. Real-time m...